摘要
针对煤炭机械化采制样系统中分拣机器人工作过程中的时变负载、非线性等特点所导致的基于精确模型的机器人传统控制方法性能上的不足,文章基于模糊控制算法和PID算法相结合的方式,构建模糊PID控制方式;以煤炭分拣机器人伺服系统动态特性为基础,对控制系统进行了Matlab仿真,表明相对于传统PID控制,模糊PID控制是系统具有更好的快速性和鲁棒性。
According to the disadvantage of coal sorting robot control performance which based on accurate motion model caused by time varying load and non-linear,this paper proposes to develop the fuzzy PID control method which compounded by conventional fuzzy control and PID control.Based on the dynamic performance of coal sorting robot’s servo-system,the control system is simulated in Matlab.Simulation results indicate that the new method has higher speed and better robustness compared with conventional PID control.
出处
《煤炭技术》
CAS
北大核心
2013年第6期160-162,共3页
Coal Technology
